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car_fmw: add metric route, improve Engine module

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This commit is contained in:
e5l
2016-08-25 16:59:26 +03:00
parent 27321af56d
commit ff5ad083a9
12 changed files with 435 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
car_fmw/src/Control.kt
+19 -2
View File
@@ -1,4 +1,3 @@
object Control {
val BLINK_DURATION = 1000
@@ -18,6 +17,7 @@ object Control {
when (task.type.id) {
TaskRequest.Type.DEBUG.id -> debugTask()
TaskRequest.Type.ROUTE.id -> routeTask()
TaskRequest.Type.ROUTE_METRIC.id -> routeMetricTask()
TaskRequest.Type.SONAR.id -> sonarTask()
}
@@ -55,6 +55,23 @@ object Control {
Writer.writeRoute(response)
}
private fun routeMetricTask() {
val route = Reader.readMetricRoute()
val distances = route.distances
var i = 0
while (i < distances.size) {
val distance = distances[i]
val direction = route.directions[i]
Engine.drive(direction, distance)
i++
}
val response = RouteResponse.BuilderRouteResponse(0).build()
Writer.writeRoute(response)
}
private fun sonarTask() {
val request = Reader.readSonar()
val size = request.angles.size
@@ -65,7 +82,7 @@ object Control {
distances[i] = Sonar.getDistance(request.angles[i])
i++
}
val response = SonarResponse.BuilderSonarResponse(distances).build()
Writer.writeSonar(response)
}
car_fmw/src/ProtoRW.kt
+5
View File
@@ -4,6 +4,11 @@ object Reader {
return RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
}
fun readMetricRoute(): RouteMetricRequest {
val stream = getInputStream()
return RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
}
fun readTask(): TaskRequest {
val stream = getInputStream()
return TaskRequest.BuilderTaskRequest(TaskRequest.Type.DEBUG).parseFrom(stream).build()
car_fmw/src/Voyager.kt
+1 -1
View File
@@ -12,7 +12,7 @@ object Voyager {
distance = Sonar.getSmoothDistance(0)
}
Engine.rotate(RouteType.LEFT.id, 45)
Engine.drive(RouteType.LEFT.id, 45)
}
}
}
car_fmw/src/include/Engine.kt
+8 -6
View File
@@ -51,14 +51,16 @@ object Engine {
}
fun drive(direction: Int, distance: Int) {
go(direction)
Time.wait((distance.toDouble() / VELOCITY_DRIVE).toInt())
stop()
}
val duration = when (direction) {
RouteType.FORWARD.id,
RouteType.BACKWARD.id -> (distance.toDouble() / VELOCITY_DRIVE).toInt()
RouteType.LEFT.id,
RouteType.RIGHT.id -> (distance.toDouble() / VEL0CITY_ROTATE).toInt()
else -> 0
}
fun rotate(direction: Int, degree: Int) {
go(direction)
Time.wait((degree.toDouble() / VEL0CITY_ROTATE).toInt())
Time.wait(duration)
stop()
}
}
car_fmw/src/proto/Route.proto
+5
View File
@@ -6,6 +6,11 @@ message RouteRequest {
repeated int32 directions = 2;
}
message RouteMetricRequest {
repeated int32 distances = 1;
repeated int32 directions = 2;
}
message RouteResponse {
int32 code = 1;
}
car_fmw/src/proto/Task.proto
+1
View File
@@ -9,5 +9,6 @@ message TaskRequest {
DEBUG = 0;
ROUTE = 1;
SONAR = 2;
ROUTE_METRIC = 3;
}
}
car_fmw/src/proto_src/Route.kt
+386
View File
@@ -384,6 +384,392 @@ class RouteRequest private constructor (var times: IntArray, var directions: Int
}
class RouteMetricRequest private constructor (var distances: IntArray, var directions: IntArray) {
//========== Properties ===========
//repeated int32 distances = 1
//repeated int32 directions = 2
var errorCode: Int = 0
//========== Serialization methods ===========
fun writeTo (output: CodedOutputStream) {
//repeated int32 distances = 1
if (distances.size > 0) {
output.writeTag(1, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (distances.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < distances.size) {
output.writeInt32NoTag (distances[i])
i += 1
}
} while(false)
}
//repeated int32 directions = 2
if (directions.size > 0) {
output.writeTag(2, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (directions.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < directions.size) {
arraySize += WireFormat.getInt32SizeNoTag(directions[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < directions.size) {
output.writeInt32NoTag (directions[i])
i += 1
}
} while(false)
}
}
fun mergeWith (other: RouteMetricRequest) {
distances = distances.plus((other.distances))
directions = directions.plus((other.directions))
this.errorCode = other.errorCode
}
fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
val builder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
mergeWith(builder.parseFromWithSize(input, expectedSize).build())
}
fun mergeFrom (input: CodedInputStream) {
val builder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
mergeWith(builder.parseFrom(input).build())
}
//========== Size-related methods ===========
fun getSize(fieldNumber: Int): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (directions.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < directions.size) {
arraySize += WireFormat.getInt32SizeNoTag(directions[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
return size
}
fun getSizeNoTag(): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (directions.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < directions.size) {
arraySize += WireFormat.getInt32SizeNoTag(directions[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
return size
}
//========== Builder ===========
class BuilderRouteMetricRequest constructor (var distances: IntArray, var directions: IntArray) {
//========== Properties ===========
//repeated int32 distances = 1
fun setDistances(value: IntArray): RouteMetricRequest.BuilderRouteMetricRequest {
distances = value
return this
}
fun setdistancesByIndex(index: Int, value: Int): RouteMetricRequest.BuilderRouteMetricRequest {
distances[index] = value
return this
}
//repeated int32 directions = 2
fun setDirections(value: IntArray): RouteMetricRequest.BuilderRouteMetricRequest {
directions = value
return this
}
fun setdirectionsByIndex(index: Int, value: Int): RouteMetricRequest.BuilderRouteMetricRequest {
directions[index] = value
return this
}
var errorCode: Int = 0
//========== Serialization methods ===========
fun writeTo (output: CodedOutputStream) {
//repeated int32 distances = 1
if (distances.size > 0) {
output.writeTag(1, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (distances.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < distances.size) {
output.writeInt32NoTag (distances[i])
i += 1
}
} while(false)
}
//repeated int32 directions = 2
if (directions.size > 0) {
output.writeTag(2, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (directions.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < directions.size) {
arraySize += WireFormat.getInt32SizeNoTag(directions[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < directions.size) {
output.writeInt32NoTag (directions[i])
i += 1
}
} while(false)
}
}
//========== Mutating methods ===========
fun build(): RouteMetricRequest {
val res = RouteMetricRequest(distances, directions)
res.errorCode = errorCode
return res
}
fun parseFieldFrom(input: CodedInputStream): Boolean {
if (input.isAtEnd()) { return false }
val tag = input.readInt32NoTag()
if (tag == 0) { return false }
val fieldNumber = WireFormat.getTagFieldNumber(tag)
val wireType = WireFormat.getTagWireType(tag)
when(fieldNumber) {
1 -> {
if (wireType.id != WireType.LENGTH_DELIMITED.id) {
errorCode = 1
return false
}
val expectedByteSize = input.readInt32NoTag()
var readSize = 0
var arraySize = 0
input.mark()
do {
var i = 0
while(readSize < expectedByteSize) {
var tmp = 0
tmp = input.readInt32NoTag()
arraySize += 1
readSize += WireFormat.getInt32SizeNoTag(tmp)
}
} while (false)
var newArray = IntArray(arraySize)
input.reset()
do {
var i = 0
while(i < arraySize) {
newArray[i] = input.readInt32NoTag()
i += 1}
distances = newArray
} while (false)
}
2 -> {
if (wireType.id != WireType.LENGTH_DELIMITED.id) {
errorCode = 1
return false
}
val expectedByteSize = input.readInt32NoTag()
var readSize = 0
var arraySize = 0
input.mark()
do {
var i = 0
while(readSize < expectedByteSize) {
var tmp = 0
tmp = input.readInt32NoTag()
arraySize += 1
readSize += WireFormat.getInt32SizeNoTag(tmp)
}
} while (false)
var newArray = IntArray(arraySize)
input.reset()
do {
var i = 0
while(i < arraySize) {
newArray[i] = input.readInt32NoTag()
i += 1}
directions = newArray
} while (false)
}
else -> errorCode = 4
}
return true
}
fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): RouteMetricRequest.BuilderRouteMetricRequest {
while(getSizeNoTag() < expectedSize) {
parseFieldFrom(input)
}
if (getSizeNoTag() > expectedSize) { errorCode = 2 }
return this
}
fun parseFrom(input: CodedInputStream): RouteMetricRequest.BuilderRouteMetricRequest {
while(parseFieldFrom(input)) {}
return this
}
//========== Size-related methods ===========
fun getSize(fieldNumber: Int): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (directions.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < directions.size) {
arraySize += WireFormat.getInt32SizeNoTag(directions[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
return size
}
fun getSizeNoTag(): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (directions.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < directions.size) {
arraySize += WireFormat.getInt32SizeNoTag(directions[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
return size
}
}
}
class RouteResponse private constructor (var code: Int) {
//========== Properties ===========
//int32 code = 1
car_fmw/src/proto_src/Task.kt
+3 -1
View File
@@ -9,7 +9,8 @@ class TaskRequest private constructor (var type: TaskRequest.Type) {
DEBUG (0),
ROUTE (1),
SONAR (2),
Unexpected(3);
ROUTE_METRIC (3),
Unexpected(4);
companion object {
fun fromIntToType (ord: Int): Type {
@@ -17,6 +18,7 @@ class TaskRequest private constructor (var type: TaskRequest.Type) {
0 -> Type.DEBUG
1 -> Type.ROUTE
2 -> Type.SONAR
3 -> Type.ROUTE_METRIC
else -> Unexpected
}
}
proto/protofiles_sources/server_car/debug.proto
-1
View File
@@ -2,7 +2,6 @@ syntax = "proto3";
package carkot;
message DebugRequest {
Type type = 1;
enum Type {
proto/protofiles_sources/server_car/location.proto
-1
View File
@@ -2,7 +2,6 @@ syntax = "proto3";
package carkot;
message LocationResponse {
LocationData locationResponseData = 1;
int32 code = 2;
proto/protofiles_sources/server_car/route.proto
+6 -1
View File
@@ -2,7 +2,12 @@ syntax = "proto3";
package carkot;
message RouteRequest {
repeated int32 times = 1;
repeated int32 times = 1;
repeated int32 directions = 2;
}
message RouteMetricRequest {
repeated int32 distances = 1;
repeated int32 directions = 2;
}
proto/protofiles_sources/server_car/sonar.proto
+1 -4
View File
@@ -2,13 +2,10 @@ syntax = "proto3";
package carkot;
message SonarRequest {
repeated int32 angles = 1;
repeated int32 angles = 1;
}
message SonarResponse {
repeated int32 distances = 1;
}